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Removed parameter "OdomF2M/FixedMapPath". GUI: added odometry disabled option. Rtabmap can now localize even if odometry input is null (only in localization mode).

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matlabbe
2016-11-27 14:30:11 -05:00
parent 693f623e5e
commit 121446d648
15 changed files with 695 additions and 763 deletions
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corelib/src/OdometryThread.cpp
+2 -2
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@@ -109,7 +109,7 @@ void OdometryThread::mainLoop()
void OdometryThread::addData(const SensorData & data)
{
if(dynamic_cast<OdometryMono*>(_odometry) == 0 && dynamic_cast<OdometryF2M*>(_odometry) == 0)
if(dynamic_cast<OdometryMono*>(_odometry) == 0)
{
if(data.imageRaw().empty() || data.depthOrRightRaw().empty() || (data.cameraModels().size()==0 && !data.stereoCameraModel().isValidForProjection()))
{
@@ -119,7 +119,7 @@ void OdometryThread::addData(const SensorData & data)
}
else
{
// Mono and BOW can accept RGB only
// Mono can accept RGB only
if(data.imageRaw().empty() || (data.cameraModels().size()==0 && !data.stereoCameraModel().isValidForProjection()))
{
ULOGGER_ERROR("Missing some information (image empty or missing calibration)!?");